Initial release of the controller

.gitignore

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+fort.9

.gitmodules

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+[submodule "cmake"]
+	path = cmake
+	url = https://github.com/jrl-umi3218/jrl-cmakemodules

AUTHORS

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+Stéphane Caron <stephane dot caron at lirmm dot fr>

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8)
+
+#set(ROS_BUILD_TYPE Debug) # remove for Release
+#set(CXX_DISABLE_WERROR 1)
+
+set(CMAKE_CXX_FLAGS "-pedantic -Wno-long-long -Wall -Wextra -Wcast-align -Wcast-qual -Wformat -Wwrite-strings -Wconversion")
+
+include(cmake/base.cmake)
+include(cmake/boost.cmake)
+
+set(PROJECT_NAME lipm_walking_controller)
+set(PROJECT_DESCRIPTION "Walking controller based on linear inverted pendulum tracking")
+set(PROJECT_URL https://github.com/stephane-caron/lipm_walking_controller/)
+set(PROJECT_VERSION 1.0.0)
+
+# setup_project()  # remove for catkin
+
+project(${PROJECT_NAME})  # because setup_project() is not called
+
+# Enable C++11
+#if(NOT WIN32)
+#  add_definitions(-std=c++0x)
+#endif()
+# Enable C++14
+if(NOT WIN32)
+  add_definitions(-std=c++14)
+endif()
+
+# Use jrl-cmakemodules to get mc_rtc depency
+set(PKG_CONFIG_ADDITIONAL_VARIABLES "${PKG_CONFIG_ADDITIONAL_VARIABLES} libdir")
+add_required_dependency(mc_rtc)
+
+find_package(catkin REQUIRED)
+
+catkin_package(
+  CATKIN_DEPENDS
+  geometry_msgs
+  roscpp
+  roslib
+  std_msgs
+  tf
+)
+
+include_directories(include ${catkin_INCLUDE_DIRS} $ENV{HOME}/.local/include)
+link_directories(${catkin_LIBRARY_DIRS} $ENV{HOME}/.local/lib)
+
+add_subdirectory(src)
+
+# setup_project_finalize()  # removed for catkin

README.md

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-# lipm_walking_controller
-Walking and stair climbing controller based on LIPM tracking
+# LIPM Walking Controller
+
+Source code of the walking controller used in the experiments of [Stair
+Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance
+Control](https://hal.archives-ouvertes.fr/hal-01875387/document).
+
+## Installation
+
+Compilation has been tested on Ubuntu 14.04 (gcc/clang) with ROS Indigo.
+
+### Dependencies
+
+Compilation requires:
+
+* [ROS](http://www.ros.org/) with a working [catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace)
+* [SpaceVecAlg](https://github.com/jrl-umi3218/SpaceVecAlg)
+* [RBDyn](https://github.com/jrl-umi3218/RBDyn/)
+* [eigen-qld](https://github.com/jrl-umi3218/eigen-qld)
+* [sch-core](https://github.com/jrl-umi3218/sch-core)
+* [Tasks](https://github.com/jrl-umi3218/Tasks/)
+* [mc\_rbdyn\_urdf](https://github.com/jrl-umi3218/mc_rbdyn_urdf)
+* [eigen-cddlib](https://github.com/vsamy/eigen-cddlib)
+* [Copra](https://github.com/vsamy/Copra-deprecated)
+
+The following dependencies are not publicly released yet but available upon
+request to [Pierre Gergondet](mailto:[email protected]):
+
+* [mc\_rtc](https://gite.lirmm.fr/multi-contact/mc_rtc)
+* [mc\_rtc\_ros](https://gite.lirmm.fr/multi-contact/mc_rtc_ros)
+* [mc\_rtc\_ros\_data](https://gite.lirmm.fr/multi-contact/mc_rtc_ros_data)
+
+There is currently an additional dependency to the *EigenQP* library. It is
+redundant with *eigen-qld* and will be removed in a future update.
+
+### Building from source on Linux
+
+Link `lipm_walking_controller` from the ``src/`` folder of your catkin
+workspace, then follow the standard catkin workflow:
+
+```sh
+catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo && catkin_make install
+```
+
+## Usage
+
+### Visualization
+
+Launch RViz by:
+```sh
+roslaunch lipm_walking_controller display.launch
+```
+
+### Execution
+
+Run your mc\_rtc interface on the main confuguration file:
+```sh
+<mc_rtc_interface> lipm_walking_controller/etc/mc_rtc.conf
+```
+where ``<mc_rtc_interface>`` is for instance ``mc_vrep`` or ``MCControlTCP``.
+
+## Thanks
+
+- To Pierre Gergondet for developing and helping with the mc\_rtc framework